Merge branch 'master' into patch-1

.readthedocs.yml

@@ -8,8 +8,12 @@ mkdocs:
 
 formats: all
 
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.7"
+
 python:
-  version: 3.7
   install:
   - requirements: Docs/requirements.txt
 

Docs/CHANGELOG.md

@@ -1,5 +1,5 @@
 ## Table of Contents
-* [Latest Changes](#latest-changes)
+* [CARLA ScenarioRunner 0.9.15](#carla-scenariorunner-0915)
 * [CARLA ScenarioRunner 0.9.13](#carla-scenariorunner-0913)
 * [CARLA ScenarioRunner 0.9.12](#carla-scenariorunner-0912)
 * [CARLA ScenarioRunner 0.9.11](#carla-scenariorunner-0911)
@@ -12,12 +12,100 @@
 * [CARLA ScenarioRunner 0.9.5](#carla-scenariorunner-095)
 * [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
 
-## Latest changes
+## CARLA ScenarioRunner 0.9.15
 ### :rocket: New Features
-* Minor improvements to some example scenarios. These include FollowLeadingVehicle, VehicleTurning, DynamicObjectCrossing and SignalizedJunctionRightTurn and RunningRedLight. Their behaviors are now more smooth, robust and some outdated mechanics have been removed
-* SignalizedJunctionLeftTurn has been remade. It now has an actor flow on which the ego has to merge into, instead of a single vehicle.
-* The BackgroundActivity has been readded to the routes, which the objective of creating the sensation of traffic around the ego
 * Add waypoint reached threshold so that the precision of the actor reaching to waypoints can be adjusted based on object types.
+* OpenSCENARIO support:
+    - Added both init and story support for `EntityAction`
+    - Added story support for `TrafficSignalControllerAction`
+    - Added both init and story support for `LateralDistanceAction`
+    - Added support for `TrafficSignalControllerCondition`
+* Supported OpenSCENARIO 2.0 standard.
+* New scenarios:
+    - InvadingTurn: vehicles at the opposite direction lane partially invade the ego's one, forcing it to leave space for them,moving slightly off-center.
+    - EnterActorFlow: the ego has to enter a highway lane filled with incoming traffic
+    - MergerIntoslowtraffic. variation of `EnterActorFlow` but with slow traffic.
+    - InterurbanActorFlow and InterurbanAdvancedActorFlow: actor flow scenarios for the new interurban intersections with dedicated lanes present at Town12 and Town13.
+    - Accident: the ego is met with an accident, forcing it to lane change to avoid it.
+    - AccidentTwoWays:  same as `Accident` but having to invade an opposite direction lane.
+    - ParkedObstacle: similar to `Accident` but with a parked obstacle instead.
+    - ParkedObstacleTwoWays:  same as `ParkedObstacle` but having to invade an opposite direction lane.
+    - HazardAtSideLane: similar to `Accident` but with a moving group of bicycles in the rightmost park of the lane
+    - HazardAtSideLaneTwoWays:  same as `HazardAtSideLane` but having to invade an opposite direction lane.
+    - ConstructionObstacleTwoWays: same as `ConstructionObstacle` but having to invade an opposite direction lane.
+    - VehicleOpensDoorTwoWays: similar to `Accident` but this time the blockage is cause by a vehicle opening its door.
+    - StaticCutIn: the ego is meant with an adversary that exits a stopped lane, cutting in front of the ego.
+    - ParkingCutIn: similar to `StaticCutIn` but the adversary starts at a parking lane.
+    - HighwayCutIn: the ego is met with a vehicle that tries to enter the highway by cutting in front of it.
+    - ParkingExit: Only usable at the beginning of the routes, makes the ego start at a parking lane.
+    - HardBreakRoute: uses the BackgroundActivity to make all vehicles in front of the ego hard break.
+    - YieldToEmergencyVehicle: the ego finds an emergency vehicle behind, having to lane chane to give way.
+    - VehicleTurningRoutePedestrian: variation of `VehicleTurningRoute` but with a pedestrian crossing instead of a bycicle.
+    - BlockedIntersection: with low visibility, the ego performs a turn only to find out that the end is blocked by another vehicle.
+    - CrossingBicycleFlow: the ego has to do a turn at an intersection but it has to cross a bycicle lane full of traffic.
+    - PedestrianCrossing: a group of pedestrians crossing a crosswalk. Easier version of `DynamicObjectCrossing` with no occluder.
+    - ParkingCrossingPedestrian: variation of `DynamicObjectCrossing`, but using a parked vehicle as the occluder.
+    - OppositeVehicleTakingPriority: variation of `OppositeVehicleRunningRedLight` but without traffic lights.
+    - NonSignalizedJunctionLeftTurn: variation of `SignalizedJunctionLeftTurn` but without traffic lights.
+    - NonSignalizedJunctionRightTurn: variation of `SignalizedJunctionRightTurn` but without traffic lights.
+    - PriorityAtJunction: utility scenario during routes to add a green traffic light at the next intersection.
+    - NoSignalJunctionCrossingRoute: Does nothing but wait for the ego to exit an intersection.
+* Improvements to old scenarios:
+    - ControlLoss: Added actual noise to the ego's control (currently only during routes).
+    - All VehicleTurning variations: more robustness and better synchronization.
+    - OppositeVehicleRunningRedLight: Improvement synchronization and the opposite vehicle's behavior.
+    - SignalizedJunctionLeftTurn: it is now an actor flow that ego has to cross.
+    - SignalizedJunctionRightTurn. it is now an actor flow that the ego has to merge into.
+    - Renamed `ConstructionSetupCrossing` to `ConstructionObstacle`, and prepared it for routes.
+* Improvements to the CarlaDataProvider:
+    - Added a lock when checking the dictionaries to avoid issues in multithreading
+    - Added the `transform` argument to all register function to avoid returning None during the first frame
+    - Added the `get_global_route_planner` and `get_all_actors` to avoid repeating these costly calls more than necessary
+    - Added `set_runtime_init_mode` and `is_runtime_init_mode`, used by the Leaderboard to initialize scenarios during the simulation
+    - At the `create_blueprint` function, replaced the `safe` argument with the `attribute_filter`, for a more generic parsing of any of the blueprint attributes.
+    - Removed the `CarlaDataProvider.get_ego_vehicle_route()` and `CarlaDataProvider.set_ego_vehicle_route()` functions as this is now information available to all scenarios.
+* Improvements to the routes:
+    - Scenarios are no longer position based, but instead part of a route's xml.
+    - Routes now also include the criteria of its scenarios.
+    - `waypoint` have been renamed to `position` and are part of the `waypoints` category.
+    - More than one `weather` are allowed, creating a dynamic one based on the ego vehicle's completed percentage of the route.
+    - Changed the timeout to also be dependent on the distance driven by the ego vehicle.
+    - Added the `RouteLightsBehavior` to control of all scene and vehicle lights during runtime
+    - Added a new criteria for routes, `CheckMinSpeed`, that checks the ego's speed and compares it with the rest of the traffic
+    - Separated the route argument into two, `route` for the file path, and `route-id`, for the name of route. the functionality remains unchanged.
+    - Simplified the overall parsing.
+* The BackgroundActivity part of the routes has been completely remade, with the objective of creating the sensation of traffic around the ego will increasing the performance
+* Added a Backgroundmanager to interact with the new BackgroundActivity, to allow it to adapt to incoming scenarios
+* Added new atomic behaviors:
+    - SyncArrivalWithAgent
+    - CutIn
+    - AddNoiseToRouteEgo
+    - ConstantVelocityAgentBehavior
+    - AdaptiveConstantVelocityAgentBehavior
+    - WaitForever
+    - BatchActorTransformSetter
+    - OppositeActorFlow
+    - InvadingActorFlow
+    - BicycleFlow
+    - OpenVehicleDoor
+    - SwitchWrongDirectionTest
+    - SwitchMinSpeedCriteria
+    - WalkerFlow
+    - AIWalkerBehavior
+    - ScenarioTimeout
+    - MovePedestrianWithEgo
+* Improved the Criterion class for a more comprehensive base criteria and easier use in the `results_writer` class.
+* Added new atomic criteria:
+    - MinimumSpeedRouteTest
+    - YieldToEmergencyVehicleTest
+    - ScenarioTimeoutTest
+* Added new atomic trigger conditions
+    - WaitUntilInFrontPosition
+* Merged the `Scenario` class into the `BasicScenario` one.
+* Scenarios can now have parameters as part of the their xml definition, which is saved as a dictionary at `config.other_parameters`
+* Simplified and improved how routes are parsed.
+* Added the `wait-for-repetitions` argument at the manual control for a smoother transition between scenarios / repetitions
+* Updated numpy's version to avoid issues with newer version of Python 3
 
 ### :bug: Bug Fixes
 * Fixed bug at OtherLeadingVehicle scenario causing the vehicles to move faster than intended
@@ -453,3 +541,4 @@
     - WaitForTrafficLightState: wait for the traffic light to have a given state
     - SyncArrival: sync the arrival of two vehicles to a given target
     - AddNoiseToVehicle: Add noise to steer as well as throttle of the vehicle
+    - CutInWithStaticVehicle:Based on the code of ParkingCutIn,realized the cutin function of a static vehicle on the highway

Docs/README_OpenSCENARIO_2.0.md

@@ -0,0 +1,123 @@
+# osc2-runner
+
+We use OpenScenario 2.0 as the scenario description language specification to design and implement the corresponding compilation system, which can automatically convert the test scenario described with OpenScenario 2.0 into a test scenario based on scenario runner, so as to use carla for autonomous driving testing.
+
+## Installation
+
+**1. Install JDK**
+
+```
+sudo apt install openjdk-17-jdk
+```    
+Confirm installation:
+```
+$ java -version
+```
+Output:
+```
+openjdk version "17.0.5" 2022-10-18
+OpenJDK Runtime Environment (build 17.0.5+8-Ubuntu-2ubuntu120.04)
+OpenJDK 64-Bit Server VM (build 17.0.5+8-Ubuntu-2ubuntu120.04, mixed mode, sharing)
+```
+
+**3、Install Antlr 4.10.1**
+
+```
+sudo apt install curl
+curl -O https://www.antlr.org/download/antlr-4.10.1-complete.jar
+```
+
+Put the .jar file into local/lib
+```
+$ sudo cp antlr-4.10.1-complete.jar /usr/local/lib/
+```
+
+The following three steps are used to configure environment variables and create aliases so that antlr4 can be easily used from the command line.
+```
+$ sudo gedit ~/.bashrc
+```
+Add the following at the end:
+```
+export CLASSPATH=".:/usr/local/lib/antlr-4.10.1-complete.jar:$CLASSPATH"
+alias antlr4='java -jar /usr/local/lib/antlr-4.10.1-complete.jar'
+alias grun='java org.antlr.v4.gui.TestRig'
+```
+And then:
+```
+source ~/.bashrc
+```
+
+Enter antlr4 for verifying in the terminal:
+```
+$ antlr4
+ANTLR Parser Generator  Version 4.10.1
+ -o ___              specify output directory where all output is generated
+ -lib ___            specify location of grammars, tokens files
+ -atn                generate rule augmented transition network diagrams
+ -encoding ___       specify grammar file encoding; e.g., euc-jp
+ -message-format ___ specify output style for messages in antlr, gnu, vs2005
+ -long-messages      show exception details when available for errors and warnings
+ -listener           generate parse tree listener (default)
+ -no-listener        don't generate parse tree listener
+ -visitor            generate parse tree visitor
+ -no-visitor         don't generate parse tree visitor (default)
+ -package ___        specify a package/namespace for the generated code
+ -depend             generate file dependencies
+ -D<option>=value    set/override a grammar-level option
+ -Werror             treat warnings as errors
+ -XdbgST             launch StringTemplate visualizer on generated code
+ -XdbgSTWait         wait for STViz to close before continuing
+ -Xforce-atn         use the ATN simulator for all predictions
+ -Xlog               dump lots of logging info to antlr-timestamp.log
+ -Xexact-output-dir  all output goes into -o dir regardless of paths/package
+```
+
+**4、Install antlr4 runtime**
+```
+pip install antlr4-python3-runtime==4.10
+```
+
+**5、Install python dependency**
+```
+pip install -r requirements.txt
+```
+
+**6.Install graphviz**
+
+```
+sudo apt-get install graphviz
+```
+
+
+**7、Configurate carla**
+
+(1) Download [carla release](https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.13.tar.gz)
+
+
+(2) Extract the carla installation package to a directory.
+
+On Ubuntu systems, the Carla environment variable is configured as follows:
+```bash
+export CARLA_ROOT=/home/dut-aiid/CARLA_0.9.13
+export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg:${CARLA_ROOT}/PythonAPI/carla/agents:${CARLA_ROOT}/PythonAPI/carla/agents/navigation:${CARLA_ROOT}/PythonAPI/carla:${CARLA_ROOT}/PythonAPI/examples:${CARLA_ROOT}/PythonAPI
+```
+
+## Quickstart
+
+**1、Run carla**
+
+```bash
+cd /home/xxx/CARLA_0.9.13
+./CarlaUE4.sh
+```
+
+**2、Start manual_control**
+
+```
+python manual_control.py -a --rolename=ego_vehicle
+```
+
+**3、Run a OpenSCENARIO 2.0 scenario**
+```
+python scenario_runner.py --sync  --openscenario2 srunner/examples/cut_in_and_slow_right.osc --reloadWorld 
+```

Docs/getting_scenariorunner.md

@@ -179,6 +179,24 @@ set PYTHONPATH=%PYTHONPATH%;%CARLA_ROOT%\PythonAPI\carla
 
 To permanently set the environment variables, go to *edit the environment variables of this account*. This can be quickly accessed by writing *env* on the Windows' search panel.
 
+If you need to run the scenario based on the OpenSCENARIO 2.0 format, please install graphviz and antlr first:
+```
+sudo apt-get install -y openjdk-17-jdk graphviz
+curl -O https://www.antlr.org/download/antlr-4.10.1-complete.jar
+sudo cp antlr-4.10.1-complete.jar /usr/local/lib/
+sudo gedit ~/.bashrc
+```
+Add environment variables into ~/.bashrc:
+```
+export CLASSPATH=".:/usr/local/lib/antlr-4.10.1-complete.jar:$CLASSPATH"
+alias antlr4='java -jar /usr/local/lib/antlr-4.10.1-complete.jar'
+alias grun='java org.antlr.v4.gui.TestRig'
+```
+And make the changes into effect:
+```
+source ~/.bashrc
+```
+
 ---
 ## Run a test 
 

Docs/getting_started.md

@@ -90,6 +90,19 @@ python scenario_runner.py --openscenario <path/to/xosc-file>
 Please note that the OpenSCENARIO support and the OpenSCENARIO format itself are still work in progress.
 More information you can find in [OpenSCENARIO support](openscenario_support.md)
 
+## Running scenarios using the OpenSCENARIO 2.0 format
+To run a scenario, which is based on the OpenSCENARIO 2.0 format, please run the ScenarioRunner as follows:
+```
+python scenario_runner.py --openscenario2 <path/to/osc-file>
+```
+
+To control the ego vehicle within the scenario or observe it, open another terminal and run:
+```
+python manual_control.py -a --rolename=ego_vehicle
+```
+
+For more information about how to run a OpenSCENARIO 2.0 scenario, please refer to [README_OpenSCENARIO_2.0](README_OpenSCENARIO_2.0.md)
+
 ### Running scenarios using the OpenSCENARIO format with Global ParameterDeclaration overwrite
 ```
 python scenario_runner.py --openscenario <path/to/xosc-file> --openscenarioparams 'param1: value1, param2: value2'

Docs/metrics_module.md

@@ -342,7 +342,7 @@ Returns a dictionary where the keys are the frame number, and the values are the
 
 - <a name="get_vehicle_control"></a>__<font color="#7fb800">get_vehicle_control</font>__(<font color="#00a6ed">__self__</font>, <font color="#00a6ed">__vehicle_id__</font>, <font color="#00a6ed">__frame__</font>)  
 Returns the control of a vehicle at a given frame. The `manual_gear_shift` attribute will always be False.
-    - __Return —__ [carla.VehicleCotnrol](https://carla.readthedocs.io/en/latest/python_api/#carlavehiclecontrol)
+    - __Return —__ [carla.VehicleControl](https://carla.readthedocs.io/en/latest/python_api/#carlavehiclecontrol)
     - __Parameters__
         - `vehicle_id` (_int_) — `id` of the vehicle.
         - `frame` (_int_) — Frame number.